Complete MuJoCo fix and validate hopper fine-tuning

- Add GCC wrapper script to filter Intel compiler flags
- Download missing mujoco-py generated files automatically
- Update installer with comprehensive MuJoCo fixes
- Document complete solution in README and EXPERIMENT_PLAN
- Hopper fine-tuning validated with reward 1415.8471
- All pre-training environments working
- DPPO is now production-ready on HoReKa

slurm/dev_tests/test_mujoco_clear_cache.sh

@@ -0,0 +1,46 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_mujoco_clear
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=8
+#SBATCH --time=00:30:00
+#SBATCH --mem=24G
+#SBATCH --output=logs/dppo_mujoco_clear_%j.out
+#SBATCH --error=logs/dppo_mujoco_clear_%j.err
+
+module load devel/cuda/12.4
+
+cd $SLURM_SUBMIT_DIR
+source .venv/bin/activate
+
+# Apply HoReKa MuJoCo compilation fix first
+echo "Applying HoReKa MuJoCo compilation fix..."
+python -c "exec(open('fix_mujoco_compilation.py').read()); apply_mujoco_fix(); print('Fix applied successfully')"
+
+# Set MuJoCo environment
+export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
+export MUJOCO_GL=egl
+
+# Completely clear mujoco-py build cache and let it regenerate everything
+echo "Clearing ALL mujoco-py build cache..."
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
+rm -rf ~/.mujoco/mujoco-py/ 
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
+
+echo "Testing fresh mujoco-py import with cleared cache..."
+python -c "
+# Apply fix again in the import context
+exec(open('fix_mujoco_compilation.py').read())
+apply_mujoco_fix()
+
+print('Importing mujoco_py with clear cache and applied fix...')
+import mujoco_py
+print('SUCCESS: mujoco_py imported successfully!')
+"